Move all the contact manifold computations out of Rapier.

src/dynamics/mod.rs

@@ -9,7 +9,7 @@ pub use self::joint::{
 };
 pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBuilder};
 pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
-pub use buckler::shape::MassProperties;
+pub use eagl::shape::MassProperties;
 // #[cfg(not(feature = "parallel"))]
 pub(crate) use self::joint::JointGraphEdge;
 pub(crate) use self::rigid_body::RigidBodyChanges;

src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs

@@ -13,7 +13,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix6, Vector6, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix3,
+    eagl::utils::SdpMatrix3,
     na::{Matrix3, Vector3},
 };
 

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs

@@ -8,7 +8,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix2,
+    eagl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
 };
 

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs

@@ -12,7 +12,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix2,
+    eagl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
 };